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<a href="#pub-types">Public Types</a> &#124;
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<p><code>#include &lt;<a class="el" href="_can_jaguar_wrapper_8hpp_source.html">CanJaguarWrapper.hpp</a>&gt;</code></p>
<div class="dynheader">
Inheritance diagram for CanJaguarWrapper:</div>
<div class="dyncontent">
 <div class="center">
  <img src="class_can_jaguar_wrapper.png" usemap="#CanJaguarWrapper_map" alt=""/>
  <map id="CanJaguarWrapper_map" name="CanJaguarWrapper_map">
<area href="class_pid_motor_controller.html" alt="PidMotorController" shape="rect" coords="67,56,191,80"/>
</map>
 </div></div>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr class="memitem:a1332f9e2dc73f5fba3e9665c13abe50f"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_can_jaguar_wrapper.html#a1332f9e2dc73f5fba3e9665c13abe50f">EncoderKind</a> { <br/>
&#160;&#160;<a class="el" href="class_can_jaguar_wrapper.html#a1332f9e2dc73f5fba3e9665c13abe50fa1e6b9ef545a47213e5d160c3a45e7a5d">Nothing</a>, 
<a class="el" href="class_can_jaguar_wrapper.html#a1332f9e2dc73f5fba3e9665c13abe50fa385edf6e9b4cb3943783517365252ea9">Encoder</a>, 
<a class="el" href="class_can_jaguar_wrapper.html#a1332f9e2dc73f5fba3e9665c13abe50fa84351dcdff7e1476cd193258fc6efe83">InvertedEncoder</a>, 
<a class="el" href="class_can_jaguar_wrapper.html#a1332f9e2dc73f5fba3e9665c13abe50fa3af308255ef4ff5be237c5bcfd97dcd4">QuadEncoder</a>, 
<br/>
&#160;&#160;<a class="el" href="class_can_jaguar_wrapper.html#a1332f9e2dc73f5fba3e9665c13abe50fa46263da1b0b36a80647984f7f90f1f36">Potentiometer</a>
<br/>
 }</td></tr>
<tr class="separator:a1332f9e2dc73f5fba3e9665c13abe50f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_types_class_pid_motor_controller"><td colspan="2" onclick="javascript:toggleInherit('pub_types_class_pid_motor_controller')"><img src="closed.png" alt="-"/>&#160;Public Types inherited from <a class="el" href="class_pid_motor_controller.html">PidMotorController</a></td></tr>
<tr class="memitem:a13eddfb79a251f572067f2e2f214b000 inherit pub_types_class_pid_motor_controller"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_pid_motor_controller.html#a13eddfb79a251f572067f2e2f214b000">ControlMode</a> { <br/>
&#160;&#160;<a class="el" href="class_pid_motor_controller.html#a13eddfb79a251f572067f2e2f214b000ac0237a20da41d0e3e0d8580f80ef4c04">PercentVBus</a> = CANJaguar::kPercentVbus, 
<a class="el" href="class_pid_motor_controller.html#a13eddfb79a251f572067f2e2f214b000a943fee08c50fe4d9b9b34fb8e876b46f">Speed</a> = CANJaguar::kSpeed, 
<a class="el" href="class_pid_motor_controller.html#a13eddfb79a251f572067f2e2f214b000ace273af498d1fda861939cfa5969ac0d">Position</a> = CANJaguar::kPosition, 
<a class="el" href="class_pid_motor_controller.html#a13eddfb79a251f572067f2e2f214b000ae344611d419ee7d0db9e299783c77497">Voltage</a> = CANJaguar::kVoltage, 
<br/>
&#160;&#160;<a class="el" href="class_pid_motor_controller.html#a13eddfb79a251f572067f2e2f214b000a7b7f434ca2ce980d197feccc28e7bfa1">Current</a> = CANJaguar::kCurrent
<br/>
 }</td></tr>
<tr class="separator:a13eddfb79a251f572067f2e2f214b000 inherit pub_types_class_pid_motor_controller"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:aa5d73300a96bfaae537823055038f19f"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_can_jaguar_wrapper.html#aa5d73300a96bfaae537823055038f19f">CanJaguarWrapper</a> (CANJaguar *canJaguar, <a class="el" href="class_can_jaguar_wrapper.html#a1332f9e2dc73f5fba3e9665c13abe50f">EncoderKind</a> encoderKind, bool canDeleteCanJaguar=false)</td></tr>
<tr class="separator:aa5d73300a96bfaae537823055038f19f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acf1a72b7de83720bfb25392eda7cde6c"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_can_jaguar_wrapper.html#acf1a72b7de83720bfb25392eda7cde6c">CanJaguarWrapper</a> (CANJaguar &amp;canJaguar, <a class="el" href="class_can_jaguar_wrapper.html#a1332f9e2dc73f5fba3e9665c13abe50f">EncoderKind</a> encoderKind)</td></tr>
<tr class="separator:acf1a72b7de83720bfb25392eda7cde6c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2a9897b8f07bfb492ae47c4c3a303039"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a2a9897b8f07bfb492ae47c4c3a303039"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>CanJaguarWrapper</b> (boost::shared_ptr&lt; CANJaguar &gt; &amp;canJaguar, <a class="el" href="class_can_jaguar_wrapper.html#a1332f9e2dc73f5fba3e9665c13abe50f">EncoderKind</a> encoderKind)</td></tr>
<tr class="separator:a2a9897b8f07bfb492ae47c4c3a303039"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4890f4bf16cff3325327104a80ca7c40"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_can_jaguar_wrapper.html#a4890f4bf16cff3325327104a80ca7c40">CanJaguarWrapper</a> (CANJaguar *canJaguar, bool canDeleteCanJaguar=false)</td></tr>
<tr class="separator:a4890f4bf16cff3325327104a80ca7c40"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad481574bef267ae891c310c99629cf4c"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_can_jaguar_wrapper.html#ad481574bef267ae891c310c99629cf4c">CanJaguarWrapper</a> (CANJaguar &amp;canJaguar)</td></tr>
<tr class="separator:ad481574bef267ae891c310c99629cf4c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0353fd37f484c4c41ff25857b88e7f69"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a0353fd37f484c4c41ff25857b88e7f69"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>CanJaguarWrapper</b> (boost::shared_ptr&lt; CANJaguar &gt; &amp;canJaguar)</td></tr>
<tr class="separator:a0353fd37f484c4c41ff25857b88e7f69"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7e36e59bf836b5207ae0f30728c3bd74"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_can_jaguar_wrapper.html#a7e36e59bf836b5207ae0f30728c3bd74">Set</a> (float speed, UINT8 syncGroup=0)</td></tr>
<tr class="separator:a7e36e59bf836b5207ae0f30728c3bd74"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8b3379ba9b0b4fce6f866a5c3c0454c7"><td class="memItemLeft" align="right" valign="top">virtual float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_can_jaguar_wrapper.html#a8b3379ba9b0b4fce6f866a5c3c0454c7">Get</a> ()</td></tr>
<tr class="separator:a8b3379ba9b0b4fce6f866a5c3c0454c7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a310ddde37a6ee6a62e1edfe0db0ba57a"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_can_jaguar_wrapper.html#a310ddde37a6ee6a62e1edfe0db0ba57a">Disable</a> ()</td></tr>
<tr class="separator:a310ddde37a6ee6a62e1edfe0db0ba57a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6418ff3efc800bf842d019695c6240df"><td class="memItemLeft" align="right" valign="top">virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_can_jaguar_wrapper.html#a6418ff3efc800bf842d019695c6240df">GetSpeed</a> ()</td></tr>
<tr class="separator:a6418ff3efc800bf842d019695c6240df"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a22010432547e75a3124999ea1c107b90"><td class="memItemLeft" align="right" valign="top">virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_can_jaguar_wrapper.html#a22010432547e75a3124999ea1c107b90">GetPosition</a> ()</td></tr>
<tr class="separator:a22010432547e75a3124999ea1c107b90"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0f2e3e10ff8d453d4f04af5b211c65b9"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_can_jaguar_wrapper.html#a0f2e3e10ff8d453d4f04af5b211c65b9">Enable</a> (double initialEncoderPosition=0)</td></tr>
<tr class="separator:a0f2e3e10ff8d453d4f04af5b211c65b9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af4f940e61e60e6c1ff48f2da8b5f1a00"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="class_pid_motor_controller.html#a13eddfb79a251f572067f2e2f214b000">ControlMode</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_can_jaguar_wrapper.html#af4f940e61e60e6c1ff48f2da8b5f1a00">GetControlMode</a> ()</td></tr>
<tr class="separator:af4f940e61e60e6c1ff48f2da8b5f1a00"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4d7809eaa109032e3624b4ef49979bc1"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_can_jaguar_wrapper.html#a4d7809eaa109032e3624b4ef49979bc1">SetControlMode</a> (<a class="el" href="class_pid_motor_controller.html#a13eddfb79a251f572067f2e2f214b000">ControlMode</a> mode)</td></tr>
<tr class="separator:a4d7809eaa109032e3624b4ef49979bc1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adae396e477fce5694e7da7a15fbf0e20"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_can_jaguar_wrapper.html#adae396e477fce5694e7da7a15fbf0e20">SetEncodersCodesPerRevolution</a> (UINT16 codesPerRevolution)</td></tr>
<tr class="separator:adae396e477fce5694e7da7a15fbf0e20"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abc09236c254e21d02f80cfa8af906e0c"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_can_jaguar_wrapper.html#abc09236c254e21d02f80cfa8af906e0c">SetPid</a> (double p, double i, double d)</td></tr>
<tr class="separator:abc09236c254e21d02f80cfa8af906e0c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a31397381c60457cdc00e0aeb2c8f7653"><td class="memItemLeft" align="right" valign="top">virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_can_jaguar_wrapper.html#a31397381c60457cdc00e0aeb2c8f7653">GetP</a> ()</td></tr>
<tr class="separator:a31397381c60457cdc00e0aeb2c8f7653"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8bf0dcc40ee678cf705e3faf184e551d"><td class="memItemLeft" align="right" valign="top">virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_can_jaguar_wrapper.html#a8bf0dcc40ee678cf705e3faf184e551d">GetI</a> ()</td></tr>
<tr class="separator:a8bf0dcc40ee678cf705e3faf184e551d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4984782f989353ced395f194ef6b19e7"><td class="memItemLeft" align="right" valign="top">virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_can_jaguar_wrapper.html#a4984782f989353ced395f194ef6b19e7">GetD</a> ()</td></tr>
<tr class="separator:a4984782f989353ced395f194ef6b19e7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_class_pid_motor_controller"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_class_pid_motor_controller')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="class_pid_motor_controller.html">PidMotorController</a></td></tr>
<tr class="memitem:a086b084fef771d37614d6b22a907d6a3 inherit pub_methods_class_pid_motor_controller"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_pid_motor_controller.html#a086b084fef771d37614d6b22a907d6a3">PIDWrite</a> (float output)</td></tr>
<tr class="separator:a086b084fef771d37614d6b22a907d6a3 inherit pub_methods_class_pid_motor_controller"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af2c5353a5de95fba5f18806eb6334441 inherit pub_methods_class_pid_motor_controller"><td class="memItemLeft" align="right" valign="top">virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_pid_motor_controller.html#af2c5353a5de95fba5f18806eb6334441">PIDGet</a> ()</td></tr>
<tr class="separator:af2c5353a5de95fba5f18806eb6334441 inherit pub_methods_class_pid_motor_controller"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3fc5e3c934175105d0b41eeb606fe326 inherit pub_methods_class_pid_motor_controller"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_pid_motor_controller.html#a3fc5e3c934175105d0b41eeb606fe326">SetPid</a> (<a class="el" href="struct_pid_motor_controller_1_1_pid.html">Pid</a> pid)</td></tr>
<tr class="separator:a3fc5e3c934175105d0b41eeb606fe326 inherit pub_methods_class_pid_motor_controller"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>The <a class="el" href="class_can_jaguar_wrapper.html">CanJaguarWrapper</a> class wraps a CANJaguar into a <a class="el" href="class_pid_motor_controller.html">PidMotorController</a> so FPK can use CANJaguars. </p>
</div><h2 class="groupheader">Member Enumeration Documentation</h2>
<a class="anchor" id="a1332f9e2dc73f5fba3e9665c13abe50f"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">enum <a class="el" href="class_can_jaguar_wrapper.html#a1332f9e2dc73f5fba3e9665c13abe50f">CanJaguarWrapper::EncoderKind</a></td>
        </tr>
      </table>
</div><div class="memdoc">
<p>The EncoderKind enum is used to specify what kind of position or distance sensor the CAN Jaguar is using. </p>
<table class="fieldtable">
<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><em><a class="anchor" id="a1332f9e2dc73f5fba3e9665c13abe50fa1e6b9ef545a47213e5d160c3a45e7a5d"></a>Nothing</em>&nbsp;</td><td class="fielddoc">
<p>The Nothing encoder kind specifies that no encoder is used. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="a1332f9e2dc73f5fba3e9665c13abe50fa385edf6e9b4cb3943783517365252ea9"></a>Encoder</em>&nbsp;</td><td class="fielddoc">
<p>The Encoder encoder kind specifies that a normal encoder is used. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="a1332f9e2dc73f5fba3e9665c13abe50fa84351dcdff7e1476cd193258fc6efe83"></a>InvertedEncoder</em>&nbsp;</td><td class="fielddoc">
<p>The InvertedEncoder encoder kind specifies that an inverted encoder is used. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="a1332f9e2dc73f5fba3e9665c13abe50fa3af308255ef4ff5be237c5bcfd97dcd4"></a>QuadEncoder</em>&nbsp;</td><td class="fielddoc">
<p>The QuadEncoder encoder kind specifies that a quadrature encoder is used. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="a1332f9e2dc73f5fba3e9665c13abe50fa46263da1b0b36a80647984f7f90f1f36"></a>Potentiometer</em>&nbsp;</td><td class="fielddoc">
<p>The Potentiometer encoder kind specifies that a potentiometer is used. </p>
</td></tr>
</table>

</div>
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<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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          <td>(</td>
          <td class="paramtype">CANJaguar *&#160;</td>
          <td class="paramname"><em>canJaguar</em>, </td>
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          <td></td>
          <td class="paramtype"><a class="el" href="class_can_jaguar_wrapper.html#a1332f9e2dc73f5fba3e9665c13abe50f">CanJaguarWrapper::EncoderKind</a>&#160;</td>
          <td class="paramname"><em>encoderKind</em>, </td>
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          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>canDeleteCanJaguar</em> = <code>false</code>&#160;</td>
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          <td>)</td>
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<p>Constructor for <a class="el" href="class_can_jaguar_wrapper.html">CanJaguarWrapper</a>.</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">canJaguar</td><td>A pointer to the CANJaguar to wrap. </td></tr>
    <tr><td class="paramname">encoderKind</td><td>The type of position or distance sensor used. </td></tr>
    <tr><td class="paramname">canDeleteCanJaguar</td><td>If the <a class="el" href="class_can_jaguar_wrapper.html">CanJaguarWrapper</a> can delete the CANJaguar so long as it functions correctly and no shared pointer is kept. </td></tr>
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          <td>(</td>
          <td class="paramtype">CANJaguar &amp;&#160;</td>
          <td class="paramname"><em>canJaguar</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="class_can_jaguar_wrapper.html#a1332f9e2dc73f5fba3e9665c13abe50f">CanJaguarWrapper::EncoderKind</a>&#160;</td>
          <td class="paramname"><em>encoderKind</em>&#160;</td>
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<p>Constructor for <a class="el" href="class_can_jaguar_wrapper.html">CanJaguarWrapper</a>.</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">canJaguar</td><td>A reference to the CANJaguar to wrap. </td></tr>
    <tr><td class="paramname">encoderKind</td><td>The type of position or distance sensor used. </td></tr>
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          <td>(</td>
          <td class="paramtype">CANJaguar *&#160;</td>
          <td class="paramname"><em>canJaguar</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>canDeleteCanJaguar</em> = <code>false</code>&#160;</td>
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<p>Constructor for <a class="el" href="class_can_jaguar_wrapper.html">CanJaguarWrapper</a>.</p>
<p>It is assumed that the CANJaguar uses a quadrature encoder.</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">canJaguar</td><td>A pointer to the CANJaguar to wrap. </td></tr>
    <tr><td class="paramname">canDeleteCanJaguar</td><td>If the <a class="el" href="class_can_jaguar_wrapper.html">CanJaguarWrapper</a> can delete the CANJaguar so long as it functions correctly and no shared pointer is kept. </td></tr>
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          <td>(</td>
          <td class="paramtype">CANJaguar &amp;&#160;</td>
          <td class="paramname"><em>canJaguar</em></td><td>)</td>
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<p>Constructor for <a class="el" href="class_can_jaguar_wrapper.html">CanJaguarWrapper</a>.</p>
<p>It is assumed that the CANJaguar uses a quadrature encoder.</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">canJaguar</td><td>A reference to the CANJaguar to wrap. </td></tr>
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<h2 class="groupheader">Member Function Documentation</h2>
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<p>Disable the motor. </p>

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          <td class="memname">void CanJaguarWrapper::Enable </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>initialEncoderPosition</em> = <code>0</code></td><td>)</td>
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<p>Enable the motor.</p>
<p>If the parameter initialEncoderPosition is passed, the current position should be treated as initialEncoderPosition.</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">initialEncoderPosition</td><td>The initial position of the motor. </td></tr>
  </table>
  </dd>
</dl>

<p>Implements <a class="el" href="class_pid_motor_controller.html#a43fd491df57bc20e6f54ff7bf561cb4a">PidMotorController</a>.</p>

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<p>Gets the target value of the motor set by the user.</p>
<p>What it gets depends on the currently set ControlMode.</p>
<dl class="section return"><dt>Returns</dt><dd>The target value set by the user. </dd></dl>

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<p>Get the current ControlMode that the motor is in.</p>
<dl class="section return"><dt>Returns</dt><dd>The current ControlMode. </dd></dl>

<p>Implements <a class="el" href="class_pid_motor_controller.html#a79f8cbc8e9eb867722cd0cf7eb12772a">PidMotorController</a>.</p>

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<p>Get the current D value</p>
<dl class="section return"><dt>Returns</dt><dd>The current D value. </dd></dl>

<p>Implements <a class="el" href="class_pid_motor_controller.html#a6d40a6d4c2cbb8d34babee2fb9f5c098">PidMotorController</a>.</p>

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<p>Get the current I value</p>
<dl class="section return"><dt>Returns</dt><dd>The current I value. </dd></dl>

<p>Implements <a class="el" href="class_pid_motor_controller.html#aff6dea3afe08690864c68b4962535fd1">PidMotorController</a>.</p>

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<p>Get the current P value</p>
<dl class="section return"><dt>Returns</dt><dd>The current P value. </dd></dl>

<p>Implements <a class="el" href="class_pid_motor_controller.html#ac78e406263f408dbf96b8c36e6e27e46">PidMotorController</a>.</p>

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<p>Get the current position in units of rotations that the motor has reached since motor was enabled.</p>
<dl class="section return"><dt>Returns</dt><dd>The current position of the motor. </dd></dl>

<p>Implements <a class="el" href="class_pid_motor_controller.html#aed237a512f0edbdc968d2a89932ba8aa">PidMotorController</a>.</p>

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<p>Get the current speed that the motor is running in units of rotations per minute (RPM).</p>
<dl class="section return"><dt>Returns</dt><dd>The current speed of the motor. </dd></dl>

<p>Implements <a class="el" href="class_pid_motor_controller.html#a694ac2d6827967e8449b8d8cfd4f67b0">PidMotorController</a>.</p>

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          <td class="memname">void CanJaguarWrapper::Set </td>
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          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>speed</em>, </td>
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          <td class="paramtype">UINT8&#160;</td>
          <td class="paramname"><em>syncGroup</em> = <code>0</code>&#160;</td>
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<p>Set the value of the motor.</p>
<p>What it sets depends on the currently set ControlMode.</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">speed</td><td>The target value. (Parameter name may be misleading.) </td></tr>
    <tr><td class="paramname">syncGroup</td><td>See CANJaguar::Set function documentation. (The default value of this parameter will work fine.) </td></tr>
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          <td class="paramtype"><a class="el" href="class_pid_motor_controller.html#a13eddfb79a251f572067f2e2f214b000">PidMotorController::ControlMode</a>&#160;</td>
          <td class="paramname"><em>mode</em></td><td>)</td>
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<p>Set the ControlMode.</p>
<p>You will need to call Enable to actually change the control mode.</p>
<dl class="params"><dt>Parameters</dt><dd>
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    <tr><td class="paramname">mode</td><td>The desired ControlMode. </td></tr>
  </table>
  </dd>
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<p>Implements <a class="el" href="class_pid_motor_controller.html#a2bf9cf6c4eb2c98e7af07d10f408762a">PidMotorController</a>.</p>

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          <td class="memname">void CanJaguarWrapper::SetEncodersCodesPerRevolution </td>
          <td>(</td>
          <td class="paramtype">UINT16&#160;</td>
          <td class="paramname"><em>codesPerRevolution</em></td><td>)</td>
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<p>Set the number of encoder codes per revolution.</p>
<p>Specify the number of encoder "codes" it takes to complete a revolution.</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">codesPerRevolution</td><td>The number of encoder codes per revolution. </td></tr>
  </table>
  </dd>
</dl>

<p>Implements <a class="el" href="class_pid_motor_controller.html#a648fbdb1ddb88b255398a63f7c875d40">PidMotorController</a>.</p>

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          <td class="memname">void CanJaguarWrapper::SetPid </td>
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          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>p</em>, </td>
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          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>i</em>, </td>
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          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>d</em>&#160;</td>
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          <td>)</td>
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<p>Set the P, I, and D values.</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">p</td><td>The P value. </td></tr>
    <tr><td class="paramname">i</td><td>The I value. </td></tr>
    <tr><td class="paramname">d</td><td>The D value. </td></tr>
  </table>
  </dd>
</dl>

<p>Implements <a class="el" href="class_pid_motor_controller.html#aeaa9df6864320c7aadbd1759223fea17">PidMotorController</a>.</p>

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<hr/>The documentation for this class was generated from the following files:<ul>
<li>C:/Users/Sam/Projects/FRC/Libraries/Fpk/Entech-Fpk-Subscribers/Entech-Fpk/Actuators/<a class="el" href="_can_jaguar_wrapper_8hpp_source.html">CanJaguarWrapper.hpp</a></li>
<li>C:/Users/Sam/Projects/FRC/Libraries/Fpk/Entech-Fpk-Subscribers/Entech-Fpk/Actuators/CanJaguarWrapper.cpp</li>
</ul>
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